CN209684778U - One kind lifting feeding mechanism - Google Patents
One kind lifting feeding mechanism Download PDFInfo
- Publication number
- CN209684778U CN209684778U CN201821499643.5U CN201821499643U CN209684778U CN 209684778 U CN209684778 U CN 209684778U CN 201821499643 U CN201821499643 U CN 201821499643U CN 209684778 U CN209684778 U CN 209684778U
- Authority
- CN
- China
- Prior art keywords
- axis
- bottom plate
- linear
- feeding mechanism
- moving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
Lift feeding mechanism the utility model discloses one kind, including for grabbing workpiece and along the linearly moving Y-axis moving mechanism of Y-axis, for driving the Y-axis moving mechanism along the linearly moving Z axis mobile mechanism of Z axis and for driving the Z axis mobile mechanism along the linearly moving X-axis mobile mechanism of X-axis；The Z axis mobile mechanism includes the Z axis bottom plate being arranged in the X-axis mobile mechanism, the linear bearing being arranged on the Z axis bottom plate and the matched linear guide of the linear bearing and the Z axis driving part being arranged on the Z axis bottom plate.The utility model is cooperated by X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism, realizes that three axis lift movement, wherein Z axis mobile mechanism carries out linear steering using linear guide and linear bearing, realizes that Z axis is mobile.This lifts that feeding machine structure is simple, and low manufacture cost has the advantages that high-efficient, transporting velocity is fast.
Description
Technical field
The utility model relates to handling machinery technical fields, lift feeding mechanism more particularly, to one kind.
Background technique
Existing part processing method is often multi-process, must be removed after the process of the station is completed on a station
Next station is transported to continue to process next process.It generally requires manually to go to carry in this handling process, but manually removes
The speed of fortune is relatively slow and labour cost height results in entire high production cost and low efficiency.
Therefore, it is badly in need of designing and high-efficient lifts feeding mechanism.
Utility model content
The utility model is to overcome that manual handling speed described in the above-mentioned prior art is slow, defect of low efficiency, provides one
Kind feeding mechanism is lifted, feeding mechanism is high-efficient, and transporting velocity is fast for lifting of providing, and is able to carry out three axis and lifts movement, and knot
Structure is simple, low manufacture cost.
In order to solve the above technical problems, the technical solution adopted in the utility model is:
One kind lifts feeding mechanism, including for grabbing workpiece and along the linearly moving Y-axis moving mechanism of Y-axis, for driving
The Y-axis moving mechanism is moved along the linearly moving Z axis mobile mechanism of Z axis and for driving the Z axis mobile mechanism along X-axis line
Property mobile X-axis mobile mechanism；
The Z axis mobile mechanism includes the Z axis bottom plate being arranged in the X-axis mobile mechanism, is arranged in the Z axis bottom plate
On linear bearing, with the matched linear guide of the linear bearing and the Z axis driving part that is arranged on the Z axis bottom plate,
The linear guide is arranged in the linear bearing, and the linear guide is parallel with Z axis；
The Y-axis moving mechanism is arranged on the linear guide；
The Z axis driving part is for driving the Y-axis moving mechanism to move along the linear guide.
The utility model is cooperated by X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism, realizes three axis supports
Movement is made, wherein Z axis mobile mechanism carries out linear steering using linear guide and linear bearing, realizes that Z axis is mobile.This is lifted
Feeding machine structure is simple, low manufacture cost, has the advantages that high-efficient, transporting velocity is fast.
Preferably, the Z axis driving part is linear extendible component.
Preferably, the Z axis driving part is lifting cylinder.
Preferably, the lifting cylinder includes that lifting cylinder main body and the lifting being arranged in the lifting cylinder main body are stretched
Contracting bar, the lifting telescopic rod is parallel with Z axis, and the lifting cylinder main body is arranged on the Z axis bottom plate, and the lifting is flexible
Bar is connect with the Y-axis moving mechanism.
Lifting cylinder drives Y-axis moving mechanism to move along Z axis by lifting telescopic rod, that is, moves up and down, into
Row lifts movement.
Preferably, the Z axis bottom plate is equipped with through-hole, and the bottom of the Z axis bottom plate, institute is arranged in the lifting cylinder main body
It states after lifting telescopic rod passes through the through-hole and is connect with the Y-axis moving mechanism.
The bottom of Z axis bottom plate is arranged in lifting cylinder main body, so that entire feeding mechanism of lifting is more compact, makes full use of
The bottom space of Z axis bottom plate.
Preferably, the geometric center of the Z axis bottom plate is arranged in the through-hole.
Preferably, the bottom of the Y-axis moving mechanism is equipped with Z axis buffer.
When lifting cylinder driving Y-axis moving mechanism is moved along Z axis, the Z axis buffer of the bottom of Y-axis moving mechanism can have
Effect weakens the collision of Y-axis moving mechanism and Z axis bottom plate.
Preferably, the Y-axis moving mechanism packet Y-axis bottom plate, be arranged on the Y-axis bottom plate Y-axis linear steering component,
The execution unit for grabbing workpiece being arranged on the Y-axis linear steering component and the use being arranged on the Y-axis bottom plate
Linearly moving Y-axis driving part is carried out on the Y-axis linear steering component in the driving execution unit；The Y-axis line
Property guiding parts is parallel with Y-axis；
The Y-axis bottom plate is connect with the linear guide.
Preferably, Y-axis bottom plate is connect with the Z axis driving part.Preferably, the Y-axis bottom plate and lifting telescopic rod connect
It connects.
Preferably, Y-axis linear steering component include the Y-axis linear guides being arranged on the Y-axis bottom plate and with the Y
The Y-axis sliding block of axis guide rail, the Y-axis sliding block are arranged on the Y-axis linear guides, and the execution unit setting exists
On the Y-axis sliding block.
Preferably, the Y-axis driving part is Y-axis extensible member.
Preferably, the Y-axis driving part is Y-axis cylinder.
Preferably, the Y-axis cylinder includes the Y-axis cylinder main body being arranged on the Y-axis bottom plate and is arranged in the Y
Y-axis telescopic rod on axis cylinder main body, the Y-axis telescopic rod is parallel with Y-axis, and the Y-axis telescopic rod and the execution unit connect
It connects.
Preferably, the execution unit includes the Y-axis supporting plate being arranged on the Y-axis linear steering component, is arranged in institute
State several clamping jaw cylinders on Y-axis supporting plate.
Preferably, the Y-axis driving part is connect with the Y-axis supporting plate.Preferably, the Y-axis telescopic rod and the Y
The connection of axis supporting plate.
Preferably, the clamping jaw cylinder is equipped with clamping jaw.
The clamping jaw cylinder is Pneumatic component, can pass through clamping jaw grabbing workpiece.
Preferably, the clamping jaw cylinder is five.Preferably, five clamping jaw cylinders are in line on the Y-axis supporting plate
Property arrangement.
Preferably, the bottom of the execution unit is equipped with Y-axis limited block, and the Y-axis bottom plate is buffered equipped with corresponding Y-axis
Device.
Y-axis buffer is by stopping Y-axis limited block mobile, to limit the moving range of execution unit.
Preferably, the X-axis mobile mechanism includes X-axis bottom plate, the X-axis linear steering portion being arranged on the X-axis bottom plate
Part and X-axis driving part, the Z axis bottom plate are arranged on the X-axis linear steering component, the X-axis linear steering component and X
Axis is parallel；The X-axis driving part is for driving the Z axis bottom plate to carry out linear movement on the X-axis linear steering component.
Preferably, the X-axis linear steering component include the X-axis linear guides being arranged on the X-axis bottom plate and with institute
The matched X-axis slide block of X-axis linear guides is stated, the X-axis slide block is arranged on the X-axis linear guides, the Z axis bottom plate setting
In the X-axis slide block.
Preferably, the X-axis driving part is X-axis extensible member.
Preferably, the X-axis driving part is X-axis cylinder.
Preferably, the X-axis cylinder includes the X-axis cylinder main body being arranged on the X-axis bottom plate and is arranged in the X
X-axis telescopic rod on axis cylinder main body, the connection of Z axis bottom plate described in the X-axis telescopic rod.
Preferably, X-axis bottom plate is set there are two X-axis limited block, and two X-axis limited blocks are separately positioned on the X-axis line
The both ends of property guide rail.
Preferably, the X-axis limited block is equipped with X-axis buffer.X-axis buffer, which can weaken, states X-axis limited block and Z
The collision of axis bottom plate.
Compared with prior art, the utility model has the beneficial effects that
The utility model is cooperated by X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism, realizes three axis supports
Movement is made, wherein Z axis mobile mechanism carries out linear steering using linear guide and linear bearing, realizes that Z axis is mobile.This is lifted
Feeding machine structure is simple, low manufacture cost, has the advantages that high-efficient, transporting velocity is fast.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for lifting feeding mechanism of embodiment 1.
Fig. 2 is the schematic diagram of the Y-axis moving mechanism for lifting feeding mechanism of embodiment 1.
Fig. 3 is the schematic diagram of the Y-axis moving mechanism for lifting feeding mechanism of embodiment 1.
Fig. 4 is the schematic diagram of the Z axis mobile mechanism for lifting feeding mechanism of embodiment 1.
Fig. 5 is the schematic diagram of the X-axis mobile mechanism for lifting feeding mechanism of embodiment 1.
Specific embodiment
The utility model is further described With reference to embodiment.
Embodiment 1
One kind lifting feeding mechanism, moves as shown in Fig. 1~5, including for grabbing workpiece and along the linearly moving Y-axis of Y-axis
Motivation structure 1, for driving Y-axis moving mechanism 1 along the linearly moving Z axis mobile mechanism 2 of Z axis and for driving Z axis mobile mechanism
2 along the linearly moving X-axis mobile mechanism 3 of X-axis.
1 packet Y-axis bottom plate 11 of Y-axis moving mechanism, Y-axis linear steering component 12, execution unit 13 and Y-axis driving part 14.
Y-axis linear steering component 12 includes two parallel Y-axis linear guides 121 and and Y being arranged on Y-axis bottom plate 11
The matched Y-axis sliding block 122 of axis linear guides 121, Y-axis sliding block 122 are arranged on Y-axis linear guides 121.Y axis linear guides
121 is parallel with Y-axis.
Execution unit 13 includes Y-axis supporting plate 131, five clamping jaw cylinders 132 being arranged on Y-axis supporting plate 131.Five clamping jaws
Cylinder 132 linearly arranges on Y-axis supporting plate 131.Each clamping jaw cylinder 131 is set there are two clamping jaw 133.Y-axis supporting plate 131 is arranged
On Y-axis sliding block 122.Y-axis supporting plate 131 is set there are five clamping jaw baffle 134, and five clamping jaw baffles 134 are separately positioned on five folders
Immediately below pawl cylinder 132, and it is located at the side of Y-axis supporting plate 131.Clamping jaw baffle 134 is used to position the installation position of clamping jaw cylinder 132
It sets.
Y-axis driving part 14 is Y-axis cylinder, and Y-axis cylinder includes the Y-axis cylinder main body 141 being arranged on Y-axis bottom plate 11
With the Y-axis telescopic rod 142 being arranged on Y-axis cylinder main body 141, Y-axis telescopic rod 142 is parallel with Y-axis, Y-axis telescopic rod 142 and Y
Axis supporting plate 131 connects.Y-axis driving part 14 is for driving execution unit 13 to move in the enterprising line of Y-axis linear steering component 12
It is dynamic.
Z axis mobile mechanism 2 includes Z axis bottom plate 21, four linear bearings 22 and linear axis being arranged on Z axis bottom plate 21
The Z axis driving part 24 for holding 22 matched four linear guides 23 and being arranged on Z axis bottom plate 21, the setting of linear guide 23 exist
In linear bearing 22, linear guide 23 is parallel with Z axis.The upper end of linear guide 23 is fixedly connected with Y-axis bottom plate 11.Linear guide
23 can freely move along Z axis in linear bearing 22, that is, move up and down.
Z axis driving part 24 is lifting cylinder, and lifting cylinder includes lifting cylinder main body 241 and is arranged in lifting cylinder master
Lifting telescopic rod 242 on body 241, lifting telescopic rod 242 are parallel with Z axis.Z axis bottom plate 21 is equipped with through-hole 25, and through-hole 25 is arranged
In the geometric center of Z axis bottom plate 21.The bottom of Z axis bottom plate 21 is arranged in 241 body of lifting cylinder master, and lifting telescopic rod 242 passes through
It is fixedly connected after through-hole 25 with Y-axis bottom plate 11.The bottom of Z axis bottom plate 21 is arranged in lifting cylinder main body 241, so that entirely lifting
Feeding mechanism is more compact, makes full use of the bottom space of Z axis bottom plate 21.
X-axis mobile mechanism 3 includes X-axis bottom plate 31, the X-axis linear steering component 32 being arranged on X-axis bottom plate 31 and X-axis
Driving part 33.X-axis linear steering component 32 includes two parallel 321 Hes of X-axis linear guides being arranged on X-axis bottom plate 31
With 321 matched four X-axis slide blocks 322 of X-axis linear guides, X-axis slide block 322 is arranged on X-axis linear guides 321, every X-axis
Two pieces of X-axis slide blocks 322 are set on linear guides 321.Z axis bottom plate 21 is arranged in X-axis slide block 322.Four X-axis slide blocks 322 are divided
Not Wei Yu Z axis bottom plate 21 four angles.X-axis linear guides 321 are parallel with X-axis.
X-axis driving part 33 is X-axis cylinder.X-axis cylinder includes X-axis cylinder main body 331 and is arranged in X-axis cylinder main body
X-axis telescopic rod 332 on 331.X-axis bottom plate 31 is equipped with X-axis cylinder mounting block 333, and X-axis cylinder main body 331 is arranged in X-axis cylinder
On mounting blocks 333.X-axis telescopic rod 332 is equipped with X-axis cylinder connecting plate 334, and X-axis cylinder connecting plate 334 and Z axis bottom plate 21 are fixed
Connection.X-axis driving part 33 is for driving Z axis bottom plate 21 to carry out linear movement on X-axis linear steering component 32.
X-axis bottom plate 11 is set there are two X-axis limited block 34, and two X-axis limited blocks 34 are separately positioned on X-axis linear guides 321
Both ends.X-axis limited block 34 is equipped with X-axis buffer 35.X-axis buffer 35 and Z axis bottom plate 21 are contour.35 energy of X axis buffer
Enough collisions for effectively weakening X-axis limited block 34 and Z axis bottom plate 21.
The bottom of Y-axis bottom plate 11 is set there are two Z axis buffer 26 and two Z axis limited blocks 27.Z axis limited block 27 is for limiting
The falling-threshold position of Y-axis bottom plate 11 processed.When lifting cylinder driving Y-axis bottom plate 11 is moved along Z axis, the bottom of Y-axis bottom plate 11
Z axis buffer 26 can effectively weaken the collision of Z axis limited block 27 Yu Z axis bottom plate 21.
The bottom of Y-axis supporting plate 131 is equipped with Y-axis limited block, and Y-axis bottom plate 11 is equipped with corresponding Y-axis buffer 15.Y-axis buffering
Device 15 is by stopping Y-axis limited block mobile, to limit the moving range of execution unit.
Working principle:
Be first restPose, X-axis cylinder is in retracted state, lifting cylinder is in retracted state, at Y-axis cylinder
Open configuration is in retracted state, clamping jaw cylinder 132；Followed by movement Y-axis cylinder releases Y-axis supporting plate 131, to clamping jaw cylinder
Movement clamping jaw cylinder 132 carrys out promptly workpiece after the 132 arrival location of workpiece；Followed by movement Y-axis cylinder withdraw Y-axis supporting plate 131,
Lifting cylinder is acted after workpiece leaves station rise workpiece, movement X-axis cylinder pushes workpiece to turn right after workpiece rise
While moving to extreme position, acting lifting cylinder when workpiece reaches above the station of the right to fall on workpiece to the right station；Most
Afterwards be restore initial position can be completed workpiece lift feeding movement.
The utility model is cooperated by X-axis mobile mechanism 3, Z axis mobile mechanism 2 and Y-axis moving mechanism 1, realizes three
Axis lifts movement, wherein Z axis mobile mechanism 2 carries out linear steering using linear guide 23 and linear bearing 22, realizes that Z axis moves
It is dynamic.This lifts that feeding machine structure is simple, and low manufacture cost has the advantages that high-efficient, transporting velocity is fast.
Obviously, the above embodiments of the present invention is merely examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (10)
1. one kind lifts feeding mechanism, which is characterized in that including for grabbing workpiece and along the linearly moving Y-axis moving machine of Y-axis
Structure (1), for driving the Y-axis moving mechanism (1) along the linearly moving Z axis mobile mechanism (2) of Z axis and for driving the Z
Axis mobile mechanism (2) is along the linearly moving X-axis mobile mechanism (3) of X-axis；
The Z axis mobile mechanism (2) includes the Z axis bottom plate (21) being arranged on the X-axis mobile mechanism (3), is arranged in the Z
Linear bearing (22) and the linear bearing (22) matched linear guide (23) and setting on axis bottom plate (21) is in the Z
Z axis driving part (24) on axis bottom plate (21), linear guide (23) setting are described straight in the linear bearing (22)
Line guide rod (23) is parallel with Z axis；
The Y-axis moving mechanism (1) is arranged on the linear guide (23)；
The Z axis driving part (24) is for driving the Y-axis moving mechanism (1) mobile along the linear guide (23).
2. according to claim 1 lift feeding mechanism, which is characterized in that the Z axis driving part (24) is linearly to stretch
Contracting component.
3. according to claim 2 lift feeding mechanism, which is characterized in that the Z axis driving part (24) is lifting gas
Cylinder.
4. according to claim 3 lift feeding mechanism, which is characterized in that the lifting cylinder includes lifting cylinder main body
(241) and lifting telescopic rod (242) on the lifting cylinder main body (241), the lifting telescopic rod (242) and Z be set
Axis is parallel, and the lifting cylinder main body (241) is arranged on the Z axis bottom plate (21), the lifting telescopic rod (242) with it is described
Y-axis moving mechanism (1) connection.
5. according to claim 4 lift feeding mechanism, which is characterized in that the Z axis bottom plate (21) is equipped with through-hole (25),
In the bottom of the Z axis bottom plate (21), the lifting telescopic rod (242) passes through described for lifting cylinder main body (241) setting
Through-hole (25) is connect with the Y-axis moving mechanism (1) afterwards.
6. according to claim 5 lift feeding mechanism, which is characterized in that the bottom of the Y-axis moving mechanism (1) is equipped with
Z axis buffer (26).
7. according to claim 1 lift feeding mechanism, which is characterized in that Y-axis moving mechanism (1) the packet Y-axis bottom plate
(11), Y-axis linear steering component (12) on the Y-axis bottom plate (11) is set, is arranged in the Y-axis linear steering component
(12) execution unit (13) for grabbing workpiece on and be arranged on the Y-axis bottom plate (11) for driving the execution
Component (13) carries out linearly moving Y-axis driving part (14) on the Y-axis linear steering component (12)；The Y-axis is linear
Guiding parts (12) is parallel with Y-axis；
The Y-axis bottom plate (11) connect with the linear guide (23).
8. according to claim 7 lift feeding mechanism, which is characterized in that the execution unit (13) includes being arranged in institute
State the Y-axis supporting plate (131) on Y-axis linear steering component (12), several clamping jaw cylinders being arranged on the Y-axis supporting plate (131)
(132)。
9. according to claim 7 lift feeding mechanism, which is characterized in that the bottom of the execution unit (13) is equipped with Y
Axis limited block, the Y-axis bottom plate (11) are equipped with corresponding Y-axis buffer (15).
10. according to claim 1 lift feeding mechanism, which is characterized in that the X-axis mobile mechanism (3) includes X-axis bottom
Plate (31), the X-axis linear steering component (32) and X-axis driving part (33) being arranged on the X-axis bottom plate (31), the Z axis
Bottom plate (21) is arranged on the X-axis linear steering component (32), and the X-axis linear steering component (32) is parallel with X-axis；It is described
X-axis driving part (33) is for driving the Z axis bottom plate (21) to move in the enterprising line of the X-axis linear steering component (32)
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821499643.5U CN209684778U (en) | 2018-09-13 | 2018-09-13 | One kind lifting feeding mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821499643.5U CN209684778U (en) | 2018-09-13 | 2018-09-13 | One kind lifting feeding mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209684778U true CN209684778U (en) | 2019-11-26 |
Family
ID=68593841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821499643.5U Expired - Fee Related CN209684778U (en) | 2018-09-13 | 2018-09-13 | One kind lifting feeding mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209684778U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113210503A (en) * | 2021-03-17 | 2021-08-06 | 杭州吉恒机电有限公司 | Stamping equipment for machining fan |
-
2018
- 2018-09-13 CN CN201821499643.5U patent/CN209684778U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113210503A (en) * | 2021-03-17 | 2021-08-06 | 杭州吉恒机电有限公司 | Stamping equipment for machining fan |
| CN113210503B (en) * | 2021-03-17 | 2022-06-24 | 杭州吉恒机电有限公司 | Stamping equipment for machining fan |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107471234A (en) | Foundry robot refers to asynchronous handgrip with omnidirectional more | |
| CN207596055U (en) | Fixture and robot | |
| CN105966899A (en) | Multi-station movable robot clamp | |
| CN201610322U (en) | Feeding mechanical device | |
| CN103359484B (en) | Gantry type blank grabbing machine | |
| CN106429432A (en) | Feeding machine and method of wood board | |
| CN110586729B (en) | Automatic stamping device of complicated stamping workpiece of major axis class | |
| CN209684778U (en) | One kind lifting feeding mechanism | |
| CN206108369U (en) | Wooden plate material loading machine | |
| CN208377879U (en) | A kind of clipping battery pack feeding device | |
| CN207580828U (en) | A kind of central siphon separator of central siphon feeder | |
| CN106239565B (en) | Automatic boxing truss manipulator | |
| CN212127308U (en) | Movable clamping lifting table | |
| CN106493851B (en) | A kind of blank turning machine for realizing accurate overturning adobe | |
| CN106271698A (en) | A kind of lathe with Double-station bench | |
| CN105835049A (en) | Manipulator automatic grabbing and conveying equipment of hydrogen cell reactors | |
| CN204038455U (en) | Straight trackside encloses waggon | |
| US3212650A (en) | Apparatus for unloading annular articles from a forming machine | |
| CN208960823U (en) | A kind of carrying mechanism of three axis punching press feeding mechanical hand | |
| CN107891005A (en) | A kind of logistics sorting equipment | |
| CN207645324U (en) | A kind of handling device | |
| CN107297518B (en) | A kind of multiaxis drilling device capable of moving | |
| CN206813966U (en) | A kind of carrying mechanism | |
| CN108557466B (en) | Pneumatic claw snatchs frock | |
| CN207086756U (en) | A kind of automatic feeding of pressing equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191126 Termination date: 20200913 |